
/*********************************************************************************************************
*                                               BRTOS
*                                Brazilian Real-Time Operating System
*                            Acronymous of Basic Real-Time Operating System
*
*                              
*                                  Open Source RTOS under MIT License
*
*
*
*                                              OS Tasks
*
*
*   Author:   Gustavo Weber Denardin
*   Revision: 1.0
*   Date:     20/03/2009
*
*********************************************************************************************************/


void System_Time(void);
void Task_Serial(void);
void Tmr_LED(void);
void LED_RGB_Task(void);
void Keyboard_Handler(void);
void Keyb_Task(void);
void Algoritmo_Task(void);
void FREEIMU_Task (void);
void Distance_Task (void);
void Error_Task(void);

void imu_SetDefaultUserParams(void);
float imu_GetHeading(short x, short y);
int imu_FloatToInt(float myfloat);
INT8U alg_Alignment(INT16U anguloGravado, INT16U anguloAtual);
void pwm_Set_Motor(int direction, int pulse);
void pwm_Set_Motor(int direction, int pulse);
int alg_Searching();
int compara_Servo(int servoPos );
void pwm_Servo_Set(int pulse);


